Event-Triggered Security Control for High-Order Fully Actuated Systems Under DoS Attacks

This paper investigates the problem of event-triggered secure regulation for high-order fully actuated (HOFA) systems subject to stochastic denial-of-service (DoS) attacks. Through a suitable state transformation, the original HOFA plant is recast into an error-state representation. A dual-dynamic event-triggered control (DETC) law is devised, which operates solely during DoS sleep intervals. By employing Lyapunov-based arguments, sufficient conditions are derived to ensure the practical stability of the closed-loop system for both attack and sleep phases. Moreover, a strictly positive lower bound on the minimum inter-event interval is established, thereby ruling out Zeno phenomena. Numerical experiments confirm the effectiveness of the proposed approach.